Abstract
A passenger car Mercedes 500 SEL has been equipped with the sense of vision in the framework of the EUREKA-project ‘Prometheus III’. Road and object recognition is performed both in a look-ahead and in a look-back region; this allows an internal servo-maintained representation of the entire situation around the vehicle using the 4-D approach to dynamic machine vision. Obstacles are detected and tracked both in the forward and in the backward viewing range up to about 100 meters distance; depending on the computing power available for this purpose up to 4 or 5 objects may be tracked in parallel in each hemisphere. A fixation type viewing direction control with the capability of saccadic shifts of viewing direction for attention focussing has been developed. The overall system comprises about 45 transputers T-222 (16-bit, for edge extraction and communication) and T-805 (32-bit, for number crunching and knowledge processing) and 4 boards based on the Motorola Power Chip (MPC-601) for obstacle detection including image segmentation and state estimation. A description of the parallel processing architecture is given; system integration follows the well proven paradigm of orientation towards 4D physical objects and expectations with prediction error feedback. This allows frequent data driven bottom-up and model driven top-down integration steps for efficient and robust object tracking.
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© 1996 Springer-Verlag Berlin Heidelberg
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Thomanek, F., Dickmanns, E.D. (1996). Autonomous road vehicle guidance in normal traffic. In: Li, S.Z., Mital, D.P., Teoh, E.K., Wang, H. (eds) Recent Developments in Computer Vision. ACCV 1995. Lecture Notes in Computer Science, vol 1035. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-60793-5_103
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DOI: https://doi.org/10.1007/3-540-60793-5_103
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